From 4032931f0d6c39b50c807ff9f306422dcb8e4c9c Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 6 Nov 2023 21:23:38 +0900 Subject: [PATCH] feat(intersection): rectify smoothed velocity Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 960dd89b00..22f68733a3 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -35,18 +35,18 @@ distance_thr: 1.0 # [m] collision_detection: - state_transit_margin_time: 0.0 + state_transit_margin_time: 0.5 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 4.0 - collision_end_margin_time: 6.0 + collision_start_margin_time: 3.0 + collision_end_margin_time: 2.0 not_prioritized: - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object + collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity